A circulating water aquaculture pond bottom pollution cleaning robot and a pollution cleaning control method thereof

Abstract

The application provides a circulating water aquaculture pond bottom pollution cleaning robot and a pollution cleaning control method thereof, and comprises a rack, a cleaning brush device, a crawler walking device, a waterproof control cabin and a pollution suction device; the bottom of the rack is provided with the crawler walking device for driving the rack to walk; the front end of the bottom of the rack is provided with the cleaning brush device for making the bottom of the circulating water aquaculture pond to fall off the adhered pollution; the pollution suction device is installed above the rack, and the inlet of the pollution suction device is located behind the cleaning brush device for pond bottom pollution suction; the waterproof control cabin is internally provided with a control system for controlling the cleaning brush device and the crawler walking device to run. The application can effectively complete the pond bottom pollution cleaning operation, realize automatic control operation, improve the underwater pollution cleaning efficiency of the industrial circulating water aquaculture, and further improve the automation level of the industrial circulating water aquaculture.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aquaculture equipment or underwater robot technology, and particularly relates to a circulating water aquaculture pond bottom cleaning robot and a cleaning control method thereof. BACKGROUND

[0002] The factory circulating water aquaculture system (RAS) is a high-efficiency and large-scale aquaculture of aquatic organisms in a closed system through modern scientific and technological means. Compared with the traditional aquaculture mode, it saves land resources and water resources by more than 90%. Circulating water aquaculture is conducive to realizing the high efficiency, greenness and intensification of aquaculture production, and conforms to the mainstream direction of future aquaculture development.

[0003] In the circulating water aquaculture, through the links of physical filtration, biological purification, sterilization and disinfection, and degassing and oxygenation, the cleaning and purification of the aquaculture water body can be realized to meet the demand of water circulation. In the process of circulating water aquaculture, the main pollutants of the aquaculture water body include fish excrement and leftover feed, part of which dissolves and diffuses in the aquaculture water body and further affects the water quality parameters such as pH value, transparency (SD), total nitrogen (TN), total phosphorus (TP), ammonia nitrogen (NH4+-N) and the like; 10% of the pollutants are deposited and attached in the aquaculture pond and are difficult to be removed, which continuously affects the regulation and control.

[0004] For the problem of cleaning underwater attachments, passive cleaning by water flow cannot be used, and effective cleaning of the pool wall often needs to be carried out under the action of external force. Chinese patent discloses an underwater cleaning robot, which uses universal wheels to control movement and uses a cleaning suction pump to realize cleaning of sludge in artificial pools and swimming pools. The cleaning robot is installed with a camera and a control box, and a person remotely controls the cleaning robot according to the camera. Chinese patent discloses a crawler-type wall-climbing underwater cleaning robot, which is provided with a lifting grinding disc module and realizes cleaning of the wall surface through cooperation of multiple disc brushes. Chinese patent discloses an underwater cleaning robot for reservoir net cage aquaculture, which collects excrement and sludge deposited on the surface of the net cage bottom mud into a sludge collecting hopper through the mounted sludge suction pump.

[0005] The above-mentioned prior art can complete cleaning work in specific underwater scenes, but still has some problems when applied in the factory circulating water aquaculture pond. The pollutants on the bottom of the factory aquaculture pond have strong adhesion, and the water body in the circulating water aquaculture cannot be discharged from the fish pond, so the traditional sludge suction pump cannot realize effective cleaning of the pond bottom. The material of the factory circulating water aquaculture pond is plastic, and the bottom has an inclination angle, so the working path of the traditional cleaning robot is easy to deviate and cannot be cleaned completely. The number of aquaculture ponds in the factory circulating water aquaculture scene is large, and the remote control method for controlling cleaning is difficult to cope with large-scale aquaculture environment. SUMMARY

[0006] To address the shortcomings of existing technologies, this invention provides a recirculating aquaculture pond bottom cleaning robot and its cleaning control method, which can effectively complete the pond bottom cleaning operation and realize automated control operation, improve the underwater cleaning efficiency of factory-scale recirculating aquaculture, and thus improve the automation level of factory-scale recirculating aquaculture.

[0007] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0008] A robot for cleaning the bottom of a recirculating aquaculture pond includes a frame, a cleaning device, a tracked walking device, a waterproof control chamber, and a suction device. The tracked walking device is located at the bottom of the frame for driving the frame. The cleaning device is located at the front end of the bottom of the frame for removing dirt adhering to the bottom of the recirculating aquaculture pond. The suction device is installed above the frame, and the inlet of the suction device is located behind the cleaning device for adsorbing dirt from the bottom of the pond. The waterproof control chamber contains a control system for controlling the operation of the cleaning device and the tracked walking device.

[0009] Furthermore, the cleaning device includes a roller brush, a belt drive, a roller brush motor, a roller brush motor bracket, and a bearing seat; both ends of the roller brush are respectively mounted on the frame via the roller brush bearing seat, the roller brush motor is mounted on the frame via the roller brush motor bracket, and one end of the roller brush is connected to the roller brush motor via a belt drive to drive the roller brush to rotate; the radius of the roller brush is greater than the distance from the center of rotation of the roller brush to the bottom surface of the track walking device.

[0010] Furthermore, the difference between the radius of the roller brush and the distance from the roller brush rotation center to the bottom surface of the tracked walking device is 1-5mm; a linear lifting mechanism is provided between the roller brush bearing seat and the frame to change the distance from the roller brush rotation center to the bottom surface of the tracked walking device, thereby changing the friction between the brush bristles and the bottom of the pool.

[0011] Furthermore, the suction device includes a suction shell, a suction base plate, a suction fan, a suction motor, a built-in power supply, a suction control board, and a water level sensor. The suction shell is detachably mounted on the suction base plate, which is mounted on a frame. A suction fan is installed at the inlet of the suction shell, and the suction motor drives the suction fan to create a negative pressure at the bottom of the pool for sucking up waste. The built-in power supply powers the suction motor. The water level sensor measures the water level in the recirculating aquaculture tank. The suction control board controls the suction motor based on the acquired water level sensor signal.

[0012] Furthermore, the outlet of the suction shell is equipped with a suction collection box for collecting waste.

[0013] Furthermore, the gap between the inlet of the suction shell and the bottom of the pool is 5-10mm; the height of the suction base plate and the frame is changed by a spiral device to change the gap between the inlet of the suction shell and the bottom of the pool.

[0014] Furthermore, tracked walking devices are installed on both sides of the bottom of the frame, and each tracked walking device is connected to a walking motor; an inertial measurement unit is installed on the frame to measure the inclination angle θ of the bottom of the aquaculture pond; a distance sensor is installed on the frame to determine the radius of the current travel path of the cleaning robot; the control system controls the rotation speed of the tracked walking devices on both sides according to the information obtained from the inertial measurement unit and the distance sensor, so that the cleaning robot walks in circles on the bottom of the recirculating aquaculture pond.

[0015] A method for controlling the cleaning of a recirculating aquaculture pond bottom cleaning robot includes the following steps:

[0016] The radius of the bottom of the recirculating aquaculture pond is determined to be R. d The number of revolutions N from the center to the wall of the aquaculture pond is determined based on the radius increment ΔR; the linear velocity v of each revolution is determined.

[0017] The radius R of the cleaning robot's travel path in the (i+1)th lap is determined by the distance sensor. i+1 , i∈(1,N); Determine the bottom inclination angle θ of the aquaculture pond using an inertial measurement unit;

[0018] Determine the radius R of the driving path on the (i+1)th lap. i+1 The radius R of the driving path at lap i i The difference is Δ i+1 ;

[0019] Calculate path deviation e i+1 =∣Δ i+1 -ΔR∣;

[0020] The path deviation e is determined by the PID control algorithm. i+1 Determine the angular velocity ω of the cleaning robot in the (i+1)th lap. i+1 ;

[0021] Determine the track speeds of the left and right track travel devices:

[0022] Track speed of the left track travel mechanism in cycle i+1

[0023] Track speed of the right track mechanism in cycle i+1

[0024] Where: d is the distance between the two tracks.

[0025] Furthermore, the control system uses a horizontal sensor mounted on the frame along the brush axis to detect the horizontal angle between the two ends of the brush.

[0026] During the circling process of the cleaning robot, if the horizontal included angle at both ends of the roller brush is the same as or close to the inclination angle θ of the bottom of the aquaculture pond, the control system controls the linear lifting mechanism at both ends of the roller brush to increase the distance from the center of rotation of the roller brush to the bottom surface of the track walking device.

[0027] If the horizontal angle between the two ends of the roller brush is equal to or close to 0, the control system controls the linear lifting mechanism at both ends of the roller brush to reduce the distance from the center of rotation of the roller brush to the bottom surface of the track walking device.

[0028] The beneficial effects of this invention are as follows:

[0029] 1. The recirculating aquaculture pond bottom cleaning robot and its cleaning control method described in this invention utilize a cleaning brush and a suction device mounted on the frame. The rotating brush cleans residual feed and feces, while the suction fan removes the waste from the pond bottom. The rigid material brush employs an over-grounding installation method to enhance its cleaning force, effectively removing adhering waste from the pond bottom. The suction fan utilizes a negative pressure principle to generate downward pressure on the machine body, increasing cleaning force and underwater stability. The gap between the lower suction port and the pond bottom can be adjusted by the height of the suction base plate, adapting to ponds with varying degrees of dirtiness and improving the equipment's operational adaptability.

[0030] 2. The recirculating aquaculture pond bottom cleaning robot and its cleaning control method described in this invention, wherein the inlet of the suction device is located behind the cleaning device and in the center of the tracked walking devices on both sides, and the tracked walking devices on both sides can be seen as a closed boundary, so that water disturbance is only generated locally, which can avoid the high-intensity noise and water disturbance caused by the open inlet of the traditional cleaning suction pump, which can easily cause stress to the cultured organisms.

[0031] 3. The recirculating aquaculture pond bottom cleaning robot and its cleaning control method described in this invention, based on the diameter and tilt angle of the recirculating aquaculture pond, utilizes a PID algorithm to adjust the forward speed and turning radius in real time underwater, meeting the cleaning needs of aquaculture ponds of different sizes and bottom tilt angles. Furthermore, considering the robot's position on the tilted surface, adjusting the distance from the roller brush's rotation center to the bottom surface of the tracked walking device ensures consistent cleaning force and maintains uniform cleaning quality at the bottom of the recirculating aquaculture pond. PID control, by adjusting the differential speed ratio, adjusts the area of ​​the repeatedly cleaned zone, adapting to different levels of dirt and cleaning requirements in factory-style aquaculture ponds.

[0032] 4. The recirculating aquaculture pond bottom cleaning robot and its cleaning control method described in this invention are designed to achieve multiple communication control cleaning operations. The microcontroller control board is equipped with a button interface, which can control the cleaning robot through external physical buttons. Secondly, the microcontroller control board can be connected to a host computer through serial communication to realize terminal control of the cleaning robot. Then, by using an inertial measurement unit and a distance sensor in conjunction with the PID control method, the cleaning robot can be made to operate autonomously. Multiple control methods are applicable to various limited scenarios.

[0033] 5. The recirculating aquaculture pond bottom cleaning robot and its cleaning control method described in this invention control the start and stop of the suction device by detecting the water level. By incorporating a water level sensor into the suction device, the cleaning operation can be automatically started after the entire machine reaches the bottom of the pond, preventing disturbance to the water body during the descent of the cleaning robot and effectively avoiding stress reactions of the aquaculture species and disturbance of the water body. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are some embodiments of the present invention. For those skilled in the art, it is obvious that other drawings can be obtained from these drawings without creative effort.

[0035] Figure 1 This is an isometric view of the recirculating aquaculture pond bottom cleaning robot described in this invention.

[0036] Figure 2 This is a front view of the pool bottom cleaning robot described in this invention.

[0037] Figure 3 This is a top view of the pool bottom cleaning robot described in this invention.

[0038] Figure 4 This is a bottom view of the pool bottom cleaning robot described in this invention.

[0039] Figure 5 This is a left view of the pool bottom cleaning robot described in this invention.

[0040] Figure 6 This is a front view of the cleaning device described in this invention.

[0041] Figure 7 This is a top view of the cleaning device described in this invention.

[0042] Figure 8 This is a schematic diagram of the suction device described in this invention.

[0043] Figure 9This is a schematic diagram of the frame described in this invention.

[0044] Figure 10 This is a schematic diagram of the tracked walking device described in this invention.

[0045] Figure 11 This is a hardware diagram of the control system described in this invention.

[0046] Figure 12 This is a flowchart of the cleaning and pollution control method described in this invention.

[0047] Figure 13 This is a schematic diagram of the cleaning robot's movement.

[0048] Figure 14 This is a schematic diagram showing the roller brush axis parallel to the bottom of the aquaculture pond.

[0049] Figure 15 This is a schematic diagram when the angle between the axis of the roller brush and the horizontal line is 0.

[0050] In the picture:

[0051] 1-Frame; 2-Cleaning device; 201-Roll brush; 202-Drive pulley; 203-Driven pulley; 204-Transmission belt; 205-Roll brush motor; 206-Roll brush motor bracket; 207-Bearing seat; 3-Crawler walking device; 301-Crawler; 302-Drive wheel; 303-Driven wheel; 304-Walking motor; 305-Walking motor bracket; 306-Crawler wheel coupling; 307-Crawler wheel bearing seat; 4-Waterproof control compartment; 401-Waterproof cover; 5-Sludge suction device; 501-Sludge suction housing; 502-Sludge suction base plate; 503-Sludge suction fan; 504-Sludge suction motor; 505-Built-in power supply; 506-Sludge suction control board; 507-Water level sensor. Detailed Implementation

[0052] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0053] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0054] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0055] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the recirculating aquaculture pond bottom cleaning robot of the present invention includes a frame 1, a cleaning device 2, a tracked walking device 3, a waterproof control chamber 4, and a suction device 5. The tracked walking device 3 is provided at the bottom of the frame 1 for driving the frame to move and turn. The cleaning device 2 is provided at the front end of the bottom of the frame 1 for removing dirt adhering to the bottom of the recirculating aquaculture pond. The suction device 5 is installed above the frame 1, and the inlet of the suction device 5 is located behind the cleaning device 2 for adsorbing dirt from the bottom of the pond. The waterproof control chamber 4 contains a control system for controlling the operation of the cleaning device 2 and the tracked walking device 3.

[0056] like Figure 6 and Figure 7As shown, the cleaning device 2 includes a roller brush 201, a driven pulley 203, a transmission belt 204, a roller brush motor 205, a roller brush motor bracket 206, and a bearing seat 207. The roller brush 201 is mounted on the frame 1 at both ends via the roller brush bearing seat 207. The roller brush motor 205 is mounted on the frame 1 via the roller brush motor bracket 206. One end of the roller brush 201 is connected to the roller brush motor 205 via a belt drive to drive the roller brush 201 to rotate. The driving pulley 202 is coaxially connected to the roller brush motor 205 and is fixedly connected to the frame 1 via a mounting base. The driving pulley 202 and the driven pulley 203 are connected via the transmission belt 204 to transmit torque and power. The radius of the roller brush 201 is greater than the distance from the rotation center of the roller brush 201 to the bottom surface of the track walking device 3. This can improve the cleaning force of the roller brush and effectively remove the dirt adhering to the bottom of the aquaculture pond.

[0057] In this embodiment, the radius of the roller brush 201 and the distance between the rotation center of the roller brush 201 and the bottom surface of the tracked walking device 3 are 1-5 mm. In order to adjust the cleaning force, a linear lifting mechanism is provided between the roller brush bearing seat 207 and the frame 1 to change the distance between the rotation center of the roller brush 201 and the bottom surface of the tracked walking device 3, thereby changing the friction between the bristles of the roller brush 201 and the bottom of the pool, which can improve the cleaning effect.

[0058] like Figure 8 As shown, the suction device 5 includes a suction housing 501, a suction base plate 502, a suction fan 503, a suction motor 504, a built-in power supply 505, a suction control board 506, and a water level sensor 507. The suction housing 501 is detachably mounted on the suction base plate 502 via a snap-fit ​​mechanism, and the suction base plate 502 is mounted on the frame 1. The suction fan 503 is installed at the inlet of the suction housing 501, and the suction motor 504 is coaxially connected to the suction fan 503, driving the suction fan 503 to rotate and create a negative pressure at the bottom of the pool to suck up the waste. The built-in power supply 505 and the suction control board 506 are sealed and fixed inside the suction housing and are waterproofed. The built-in power supply 505 is used to power the suction motor 504. The water level sensor 507 is used to measure the water level of the recirculating aquaculture pond. The suction control board 506 controls the suction motor 504 to operate based on the signal from the water level sensor 507. The gap between the inlet of the suction shell 501 and the bottom of the pool is 5-10mm. The height of the suction base plate 502 and the frame 1 is adjusted by a spiral device to change the gap between the inlet of the suction shell 501 and the bottom of the pool, adapting to aquaculture pools with varying degrees of soiling. The spiral device is typically an adjusting screw or bolt. A sludge collection box is provided at the outlet of the suction shell 501 for collecting waste.

[0059] like Figure 9 andFigure 10 As shown, tracked walking devices 3 are respectively installed on both sides of the bottom of the frame 1, and each tracked walking device 3 is connected to a walking motor 304. Each tracked walking mechanism includes a track 301, a drive wheel 302, a driven wheel 303, a walking motor 304, a walking motor bracket 305, a track wheel coupling 306, and a track wheel bearing seat 307. The walking motor bracket 305 is fixedly installed at the rear of the frame 1, and the walking motor 304 is fixedly connected to the walking motor bracket 305. The walking motor 304 is coaxially connected to the drive wheel 303, and the track 301, drive wheel 302, and driven wheel 303 constitute a track drive. An inertial measurement unit is installed on the frame 1 to measure the inclination angle θ of the bottom of the aquaculture pond. A distance sensor is installed on the frame 1 to determine the radius of the current travel path of the cleaning robot. The control system controls the rotation speed of the tracked walking devices 3 on both sides according to the information obtained from the inertial measurement unit and the distance sensor, so that the cleaning robot walks in circles on the bottom of the circulating aquaculture pond.

[0060] like Figure 11 As shown, the waterproof control chamber 4 includes a waterproof cover 401, a microcontroller control board, a power module, a motor drive module, and a host computer. The microcontroller control board, power module, and motor drive module are fixedly installed inside the waterproof cover 401, which is completely sealed and waterproof. A cable port is provided at the rear for the internal hardware to connect to the host computer. The microcontroller control board has a built-in control program and connects and communicates with the motor drive module and the host computer via GPIO ports. The motor drive module is connected to two walking motors 304 and one roller brush motor 205 via ribbon cables. The power module is connected to and supplies power to the microcontroller control board and the motor drive module.

[0061] like Figure 12 As shown, the cleaning and control method of the recirculating aquaculture pond bottom cleaning robot of the present invention includes the following steps:

[0062] The radius of the bottom of the recirculating aquaculture pond is determined to be R. d The number of revolutions N from the center to the wall of the aquaculture tank is determined based on the radius increment ΔR. The minimum turning radius of the robot also needs to be considered here. The linear velocity v per revolution is generally a given value, which can be given according to the bottom area and tilt angle of the aquaculture tank.

[0063] The radius R of the cleaning robot's travel path in the (i+1)th lap is determined by the distance sensor. i+1 , i∈(1,N); Determine the bottom inclination angle θ of the aquaculture pond using an inertial measurement unit;

[0064] Determine the radius R of the driving path on the (i+1)th lap. i+1 The radius R of the driving path at lap i i The difference is Δ i+1 ;

[0065] Calculate path deviation e i+1 =∣Δ i+1 -ΔR∣, as shown Figure 13 As shown;

[0066] The path deviation e is determined by the PID control algorithm. i+1 Determine the angular velocity ω of the cleaning robot in the (i+1)th lap. i+1 Specifically:

[0067]

[0068] Among them, K p K i K e These represent the gains of the proportional, integral, and derivative controllers, respectively.

[0069] Determine the track speeds of the left and right track travel devices:

[0070] Track speed of the left track travel mechanism in cycle i+1

[0071] Track speed of the right track mechanism in cycle i+1

[0072] Where: d is the distance between the two tracks.

[0073] Because the bottom of the aquaculture pond is inclined, if the friction force at both ends of the roller brush 201 remains consistent, the inclined side will not be thoroughly cleaned. The control system uses a horizontal sensor mounted along the axial direction of the roller brush 201 on the frame 1 to detect the included horizontal angle between the two ends of the roller brush 201; Figure 14 As shown, the two ends of the roller brush 201 are represented by end A and end B, respectively. It can be seen from the figure that the angle between end AB and the horizontal line is θ, meaning the axis of end AB is parallel to the bottom of the aquaculture pond. Simultaneously, the control system controls the linear lifting mechanisms of ends A and B of the roller brush 201 to increase the distance from the rotation center of the roller brush 201 to the bottom surface of the tracked walking device 3. Here, the angle between end AB and the horizontal line can also approximate the inclination angle θ of the aquaculture pond bottom, with a typical error range of 0.1 to 0.2θ.

[0074] like Figure 15 As shown, the angle between end AB and the horizontal line is 0 degrees, meaning the axis of end AB is perpendicular to the bottom surface of the aquaculture pond (or, from a spatial geometry perspective, they can be considered skew surfaces). The control system controls the linear lifting mechanism of ends A and B of the roller brush 201 to reduce the distance from the rotation center of the roller brush 201 to the bottom surface of the tracked walking device 3. An angle between end AB and the horizontal line within ±3 degrees can be considered close to 0 degrees.

[0075] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0076] The detailed descriptions listed above are merely specific illustrations of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for controlling the cleaning of a recirculating aquaculture pond bottom cleaning robot, characterized in that, The recirculating aquaculture pond bottom cleaning robot includes a frame (1), a cleaning device (2), a tracked walking device (3), a waterproof control chamber (4), and a suction device (5). The frame (1) is equipped with a tracked walking device (3) at its bottom for driving the frame. The cleaning device (2) is located at the front bottom of the frame (1), and the cleaning device (2) includes a roller brush (201) for removing dirt adhering to the bottom of the recirculating aquaculture pond. The suction device (5) is installed above the frame (1), and the inlet of the suction device (5) is located behind the cleaning device (2) for adsorbing dirt from the bottom of the pond. The waterproof control chamber (4) The system has a control system for controlling the operation of the cleaning device (2) and the tracked walking device (3). The tracked walking devices (3) are installed on both sides of the bottom of the frame (1), and each tracked walking device (3) is connected to a walking motor (304). An inertial measurement unit is installed on the frame (1) to measure the inclination angle θ of the bottom of the aquaculture pond. A distance sensor is installed on the frame (1) to determine the radius of the current travel path of the cleaning robot. The control system controls the rotation speed of the tracked walking devices (3) on both sides according to the information obtained from the inertial measurement unit and the distance sensor, so that the cleaning robot walks in circles at the bottom of the circulating aquaculture pond. The control method specifically includes the following steps: The radius of the bottom of the recirculating aquaculture pond is determined to be R. d The number of revolutions N from the center to the wall of the aquaculture pond is determined based on the radius increment ΔR; the linear velocity v of each revolution is determined. The radius R of the cleaning robot's travel path in the (i+1)th lap is determined by the distance sensor. i+1 , i∈(1,N); Determine the inclination angle θ of the aquaculture pond bottom using an inertial measurement unit; Determine the radius R of the driving path on the (i+1)th lap. i+1 The radius R of the driving path at lap i i The difference is Δ i+1 ; Calculate path deviation e i+1 =∣Δ i+1 -ΔR∣; The path deviation e is determined by the PID control algorithm. i+1 Determine the angular velocity ω of the cleaning robot in the (i+1)th lap. i+1 ; Determine the track speeds of the left and right track travel devices: Track speed of the left track travel mechanism in cycle i+1 , Track speed of the right track mechanism in cycle i+1 , Where: d is the distance between the two tracks; The control system uses a horizontal sensor mounted on the frame (1) along the axial direction of the roller brush (201) to detect the horizontal angle between the two ends of the roller brush (201); During the process of the cleaning robot turning in circles, if the horizontal included angle at both ends of the roller brush (201) is the same as or close to the bottom inclination angle θ of the aquaculture pond, the control system controls the linear lifting mechanism at both ends of the roller brush (201) to increase the distance from the rotation center of the roller brush (201) to the bottom surface of the track walking device (3). If the horizontal angle between the two ends of the roller brush (201) is equal to or close to 0, the control system controls the linear lifting mechanism at both ends of the roller brush (201) to reduce the distance from the rotation center of the roller brush (201) to the bottom surface of the track walking device (3).

2. The cleaning and pollution control method according to claim 1, characterized in that, The cleaning device (2) also includes a belt drive, a roller brush motor (205), a roller brush motor bracket (206), and a bearing seat (207); the two ends of the roller brush (201) are respectively mounted on the frame (1) through the roller brush bearing seat (207), the roller brush motor (205) is mounted on the frame (1) through the roller brush motor bracket (206), and one end of the roller brush (201) is connected to the roller brush motor (205) through the belt drive to drive the roller brush (201) to rotate; the radius of the roller brush (201) is greater than the distance from the rotation center of the roller brush (201) to the bottom surface of the track walking device (3).

3. The cleaning and pollution control method according to claim 2, characterized in that, The radius of the roller brush (201) and the distance between the center of rotation of the roller brush (201) and the bottom surface of the track walking device (3) are 1~5mm apart; a linear lifting mechanism is provided between the roller brush bearing seat (207) and the frame (1) to change the distance between the center of rotation of the roller brush (201) and the bottom surface of the track walking device (3), thereby changing the friction between the brush bristles of the roller brush (201) and the bottom of the pool.

4. The cleaning and pollution control method according to claim 1, characterized in that, The sludge suction device (5) includes a sludge suction shell (501), a sludge suction base plate (502), a sludge suction fan (503), a sludge suction motor (504), a built-in power supply (505), a sludge suction control board (506), and a water level sensor (507). The sludge suction shell (501) is detachably mounted on the sludge suction base plate (502), which is mounted on the frame (1). The sludge suction fan (503) is installed at the inlet of the sludge suction shell (501). The sludge suction motor (504) drives the sludge suction fan (503) to form a negative pressure at the bottom of the pool for sucking up sludge. The built-in power supply (505) supplies power to the sludge suction motor (504). The water level sensor (507) measures the water level of the recirculating aquaculture pool. The sludge suction control board (506) controls the operation of the sludge suction motor (504) based on the signal from the water level sensor (507).

5. The cleaning and pollution control method according to claim 4, characterized in that, The suction shell (501) is provided with a suction collection box at the outlet for collecting dirt.

6. The cleaning and pollution control method according to claim 4, characterized in that, The gap between the inlet of the suction shell (501) and the bottom of the pool is 5-10 mm; the height of the suction base plate (502) and the frame (1) is changed by the spiral device to change the gap between the inlet of the suction shell (501) and the bottom of the pool.

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